Digital Signal Processing

Chapter 2 – The Z-Transform

 Introduction
 Z- Transform.
 Properties
 Region of Convergence of a Rational Z-Transform.
 Inverse Z-Transform.
 Analysis of LTI Systems in Z – Domain

Prepared by: Tesfay Haftu and Addis Goshe

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4.1. Z-Transform

 Counterpart of the Laplace transform for discrete-time signals:

The Laplace transform of a function f(t):

F (s ) 
0  f (t )e  st dt
 Generalization of the Fourier Transform
Fourier transform of x(n):

w
X (e i )  X (w )   w
x(n )e i n
n 
 Fourier Transform does not exist for all signals.

 The z-Transform is often time more convenient to use.

 The z-transform is a useful tool in the analysis of discrete-
time signals and systems.
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4.1. Z-Transform

Definition:

X ( z )  Z [ x(n)]  
n 
x(n) z  n

• z is a complex variable that can be represented as z = r ejw.

• Substituting z = ejw will reduce the z-transform to DTFT.

    xn e

jw  jwn
Xe
n  
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4.1. Z-Transform
The z-transform and the DTFT
 The z-transform is a function of the complex z variable.
 Convenient to describe on the complex z-plane.
 If we plot z = ejw for w=0 to 2 we get the unit circle.
Im  
X e jw

Unit Circle

r=1
w 0
Re
2 0 2
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4.2. Region of Convergence

The Fourier transform does not converge for all sequences—the infinite sum
may not always be finite. Similarly, the z-transform does not converge for all
sequences or for all values of z. The set of values of z for which the
z-transform converges is called the region of convergence (ROC).

The z-transform therefore exists (or converges) if



 x [n ] z
n


 If some value of z, say, z = z1, is in the ROC, then all values of z on
the circle defined by |z| = |z1| will also be in the ROC.

 So, the ROC will consist of a ring in the z-plane centered about
the origin. Its outer boundary will be a circle (or the ROC may
extend outward to infinity), and its inner boundary will be a circle (or
it may extend inward to include the origin).
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4.2. Region of Convergence

 The z-transform and all its Im

derivatives must be
continuous functions of z
within the ROC.
r1
 X(z) can be represented in a r2
Laurent (one type of power)
series and a rational function
of polynomial in z.
Re
 The ROC of a causal signal
is the exterior of a circle of
some radius r2 while the ROC
of an anti-causal is the interior z-plane
of a circle of some radius r1.
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4.2. Region of Convergence
Properties of the ROC
 The ROC is always bounded by a circle since the convergence condition
is on the magnitude |z|;
 The ROC for right-sided sequences (n<n0, x(n)=0) is always outside of a
circle of radius Rx-. (if n0>=0, x(n) is a causal seq.)
 The ROC for left-sided sequences (n>n0, x(n)=0) is always inside of a
circle of radius Rx+. (if n0<=0, x(n) is a anticausal sequence)
 The ROC for two-sided sequences is always an open ring Rx-<|z|<Rx+ if it
exists.
 The ROC for finite-duration sequences (n<n1 and n>n2, x(n)=0) is the
entire z-plane. If n1<0, then z=infinity is not in the ROC. If n2>0, then z=0 is
not in the ROC;
 The ROC cannot include a pole since X(z) converges uniformly in there;
 There is at least one pole on the boundary of a ROC of a rational X(z);
 The ROC is one contiguous region, the ROC does not come in pieces.
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4.2. Region of Convergence
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4.2. Region of Convergence
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4.2. Region of Convergence
Common Z-Transform Pairs:
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4.3. Examples
I. Determine the z-transforms of the following finite-duration signals.
a) x1(n) = {1,2,5,7,0,1}
X1(z) = 1 + 2z-1 + 5z-2 + 7z-3 + z-5 , ROC: entire z-plane except z = 0.

b) x2(n) = {1,2,5,7,0,1}
X2(z) = z2 + 2z + 5 + 7z-1 + z-3 , ROC: entire z-plane except z = 0 & z = ∞.

c) x3(n) = δ(n)
X3(z) = 1 , ROC: entire z-plane.

d) x4(n) = δ(n-k) , k > 0.

X4(z) = z-k , k > 0 , ROC: entire z-plane except z = 0.

e) x5(n) = δ(n+k) , k > 0.

X5(z) = zk , k > 0 , ROC: entire z-plane except z = ∞.
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4.3. Examples
II. Determine the z-transforms of the signal:
Solution:
Consist an infinite number
of nonzero values.

Consequently, for X(z) converges to

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4.3. Examples
III. Determine the z-transforms of the signal:

x ( n )  a n u( n )
The z-transform is given by:
 
X (z)  
n  
a nu(n )z  n  
n 0
(az 1)n

Which converges to:

ROC

X ( z)  1  z , ROC : z  a 
a
1 az1 z  a
Clearly, X(z) has a zero at z = 0 and
a pole at z = a.
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4.3. Examples
IV. Determine the z-transforms of the signal:

ROC
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4.3. Examples
V. Determine the z-transforms of the signal:

• The first power series converges if

• The second power series converges if

In determining the convergence of X(z):

Case 1:

Case 2:
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4.4. Z-Transform Properties
Linearity:

Time Shifting:

Multiplication by an exponential sequence:

Differentiation:
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4.4. Z-Transform Properties
Time reversal:

Convolution:

Conjugation:
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4.4. Z-Transform Properties
Examples:
I. Determine X(z).
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4.4. Z-Transform Properties
Examples:
II. Determine X(z).

This signal is time reversed of

The z-transform is
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4.5. The Inverse Z-Transform
1
x ( n) 
2 j 
C
X ( z ) z n1dz
4.5.1. Inspection Method:
You can find the inverse z-transform from z-transform pair the table.
Example:

Determine x(n).

Using the table,

then
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4.5. The Inverse Z-Transform
4.5.2. Partial Fraction Expansion:
For any rational function we can obtain a partial fraction expansion,
and identify the z-transform for each term.

The most general form for partial fraction expansion, which

can deal with multiple order poles is:

If x(z) has a second order

pole for example:
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4.5. The Inverse Z-Transform
4.5.2. Partial Fraction Expansion:
Example:

Determine the x(n).

M = N = 2, so this can be
expressed as

The value B0 can be found by long division:

so
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4.5. The Inverse Z-Transform
4.5.2. Partial Fraction Expansion:
Example: (cont.)
The coefficients A1 and A2
can be found using:
So and

Therefore,

Using and inspection method,

then
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4.5. The Inverse Z-Transform
4.5.3. Power Series Expansion:
If the z-transform is given as power series in the form:

x(n) can be found by identifying the coefficient of the

appropriate power of z-1.
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4.5. The Inverse Z-Transform
4.5.3. Power Series Expansion:
Example:

By inspection,

or
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4.6. Transfer Function
The output y(n) of LTI system to an input sequence x(n) can be
obtained by computing the convolution of x(n) with the unit
sample (Impulse) response h(n) of the system.

y(n) = h(n) * x(n)

Expressing this relationship in the z-domain as ,

Y(z) = H(z) X(z)

Impulse Response:
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4.6. Transfer Function

The LTI system can be described by means of a constant coefficient linear

difference equation as follows:
N M
y ( n)   b( k ) x ( n  k )   a ( k ) y ( n  k )
k 0 k 1

N M
Y ( z )   b( k ) z  k X ( z )   a ( k ) z  kY ( z )
k 0 k 1
N

The transfer function of Y ( z)  b ( k ) z k

the LTI system: H ( z)   k 0

M
1   a(k ) z  k
X ( z)
k 1
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4.6. Transfer Function
Example:
Determine the transfer function and the impulse response of the
following system:

z-transform

Transfer Function

The inverse
transform
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4.6. Transfer Function
Example:
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4.6. Transfer Function
Example:
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4.7. Poles, Zeros, and Pole-Zero Plot
N N

 b ( k ) z k
b0 N  M (z  z )
k
H ( z)  k 0
M
 z k 1
M
1   a(k ) z  k (z  p )
a0
k
k 1 k 1

Zeros of H(z): the set {zk} of z-plane for which H(zk)=0

Poles of H(z): the set {pk} of z -plane for which H ( pk )  

Pole-zero plot: the plot of the zeros and the poles of H(z) in the
z-plane represents a strong tool for LTI system description.
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4.7. Poles, Zeros, and Pole-Zero Plot
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4.8. Causality and Stability

Causality:
 ROC outside a circle and extend to infinity.
 Rational H(z) has ROC outside the outermost pole and the
denominator greater than of numerator.
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4.8. Causality and Stability

Stability:
 The ROC includes the unit circle of |z| = 1.
 Rational H(z) has poles inside the unit circle.

Stable System Example:

1  0.9 z 1  0.18 z 2 z1  0.3 p1  0.4000  0.6928 j p1  0.8 1

H ( z) 
1  0.8 z 1  0.64 z 2 z2  0.6 p2  0.4000  0.6928 j p2  0.8  1

Unstable System Example:

1  0.16 z 2 z1  0.4 p1  0.5500  0.9526 j p1  1.1 1

H ( z) 
1  1.1z 1  1.21z 2 z2  0.4 p2  0.5500  0.9526 j p2  1.1  1
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4.9. Block Diagram

Feedback Block Diagram

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4.9. Block Diagram
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4.9. Block Diagram
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4.10. Comparing between Domains

Time – Domain: impulse response h( k )

 
H (e jw )   h
k 
( k ) e  jw k
H ( z)   h (
k 
k ) z k

Z – Domain: transfer function H ( z )

H e   H  z ze jw 1

jw n 1
h( n)  H ( z ) z dz
2 j C

Frequency – Domain: frequency response H e jw  


H ( z)  H  e  1

jw
h( k )  H ( e j w )e j w k d w
e jw  z 2 
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